Hybrid sliding mode control of a two-link robotic arm

F.B.J. Bruning, M. Steinbuch

Onderzoeksoutput: Boek/rapportRapportAcademic

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Samenvatting

With high robustness, sliding mode controllers (SMC) are excellent for control of nonlinear systems. A novel way to combat chattering based on linear loop shaping techniques is presented, whereby switching between an SMC and a linear controller is used. The switching is then proven to be stable via multiple discontinuous Lyapunov functions, and implemented on a two-link planar robot.
Originele taal-2Engels
Plaats van productieEindhoven
UitgeverijEindhoven University of Technology
Aantal pagina's34
StatusGepubliceerd - 2013

Publicatie series

NaamCST
Volume2013.022

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